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MultiRobot Lab
Head: Manuela Veloso
Contact: Brett Browning
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Location:
WEH 1302
Lab Homepage
Publications
  • Policy Feedback for the Refinement of Learned Motion Control on a Mobile Robot

    Brenna Argall, Brett Browning, and Manuela Veloso
    International Journal of Social Robotics, Vol. 4, No. 4, November, 2012, pp. 383-395.
    Details

  • Teacher feedback to scaffold and refine demonstrated motion primitives on a mobile robot

    Brenna Argall, Manuela Veloso, and Brett Browning
    Robotics and Autonomous Systems, Vol. 59, No. 3-4, 2011, pp. 243-255.
    Details

  • Mobile robot motion control from demonstration and corrective feedback

    Brenna Argall, Brett Browning, and Manuela Veloso
    From Motor Learning to Interaction Learning in Robots, Olivier Sigaud and Jan Peters, ed., Springer, 2010, pp. 431-450.
    Details

  • Prioritized Multihypothesis Tracking by a Robot with Limited Sensing

    Paul Rybski and Manuela Veloso
    EURASIP Journal on Advances in Signal Processing, Vol. 2009, January, 2009, pp. 138-154.
    Details | pdf (2MB) | Copyrighted

  • Learning robot motion control from demonstration and human advice

    Brenna Argall, Brett Browning, and Manuela Veloso
    the AAAI Spring Symposium, 2009.
    Details | pdf (453KB) | Copyrighted

  • Learning mobile robot motion control from demonstrated primitives and human feedback

    Brenna Argall, Brett Browning, and Manuela Veloso
    the 14th International Symposium on Robotics Research (ISRR09), 2009.
    Details | pdf (326KB) | Copyrighted

  • Automatic weight learning for multiple data sources when learning from demonstration

    Brenna Argall, Brett Browning, and Manuela Veloso
    the IEEE International Conference on Robotics and Automation (ICRA09), 2009.
    Details | pdf (278KB) | Copyrighted

  • Sliding Autonomy for Peer-To-Peer Human-Robot Teams

    M Bernardine Dias, Balajee Kannan, Brett Browning, Edward Jones, Brenna Argall, Malcolm Frederick Dias, Marc B. Zinck, Manuela Veloso, and Anthony (Tony) Stentz
    10th International Conference on Intelligent Autonomous Systems 2008, July, 2008.
    Details | pdf (255KB) | Copyrighted

  • Sliding Autonomy for Peer-To-Peer Human-Robot Teams

    M Bernardine Dias, Balajee Kannan, Brett Browning, Edward Jones, Brenna Argall, Malcolm Frederick Dias, Marc B. Zinck, Manuela Veloso, and Anthony (Tony) Stentz
    tech. report CMU-RI-TR-08-16, Robotics Institute, Carnegie Mellon University, April, 2008
    Details | pdf (3MB) | Copyrighted

  • Teaching Task Flow Through Dialog and Observation

    Kevin Yoon and Paul Rybski
    master's thesis, tech. report CMU-RI-TR-07-18, Robotics Institute, Carnegie Mellon University, May, 2007
    Details | pdf (1MB) | Copyrighted

  • Oracular Partially Observable Markov Decision Processes: A Very Special Case

    Nicholas Armstrong-Crews and Manuela Veloso
    Proceedings of ICRA 2007, April, 2007.
    Details | pdf (178KB) | Copyrighted

  • Interactive Robot Task Training through Dialog and Demonstration

    Paul Rybski, Kevin Yoon, Jeremy Stolarz, and Manuela Veloso
    2nd ACM/IEEE International Conference on Human-Robot Interaction, March, 2007.
    Details | pdf (501KB) | Copyrighted

  • CMRoboBits: Creating an Intelligent AIBO Robot

    Manuela Veloso, Paul Rybski, Scott Lenser, Sonia Chernova, and Douglas Vail
    AI Magazine, Vol. 27, No. 1, June, 2006, pp. 67-82.
    Details | pdf (808KB) | Copyrighted

  • Dynamically Formed Heterogeneous Robot Teams Performing Tightly-Coordinated Tasks

    Edward Jones, Brett Browning, M Bernardine Dias, Brenna Argall, Manuela Veloso, and Anthony (Tony) Stentz
    International Conference on Robotics and Automation, May, 2006, pp. 570 - 575.
    Details | pdf (422KB) | Copyrighted

  • A Team of Humanoid Game Commentators

    Manuela Veloso, Nicholas Armstrong-Crews, Sonia Chernova, Elisabeth Crawford, Colin McMillen, Maayan Roth, and Douglas Vail
    Proceedings of Humanoids 2006, December, 2006.
    Details | pdf (308KB) | Copyrighted

  • CMAssist: A RoboCup@Home Team

    Paul Rybski, Kevin Yoon, Jeremy Stolarz, and Manuela Veloso
    tech. report CMU-RI-TR-06-47, Robotics Institute, Carnegie Mellon University, October, 2006
    Details | pdf (3MB) | Copyrighted

  • Automatic Clustering of Faces in Meetings

    Carlos Vallespi-Gonzalez, Fernando De la Torre Frade, Manuela Veloso, and Takeo Kanade
    ICIP 2006, October, 2006, pp. 1841-1844.
    Details | pdf (456KB) | Copyrighted

  • What to Communicate? Execution-time Decision in Multi-agent POMDPs

    Maayan Roth, Reid Simmons, and Manuela Veloso
    The 8th International Symposium on Distributed Autonomous Robotic Systems (DARS), 2006.
    Details

  • Dynamically formed human-robot team performing coordinated tasks

    M Bernardine Dias, Thomas K. Harris, Brett Browning, Edward Jones, Brenna Argall, Manuela Veloso, Anthony (Tony) Stentz, and Alexander Rudnicky
    the AAAI Spring Symposium "To boldly go where no Human-Robot Team has gone before", 2006.
    Details | pdf (2MB) | Copyrighted

  • Multimodal Oriented Discriminant Analysis

    Fernando De la Torre Frade and Takeo Kanade
    International Conference on Machine Learning (ICML)., August, 2005.
    Details | pdf (401KB) | Copyrighted

  • Game-Theoretic Control for Robot Teams

    Rosemary Emery-Montemerlo
    doctoral dissertation, tech. report CMU-RI-TR-05-36, Robotics Institute, Carnegie Mellon University, August, 2005
    Details | pdf (2MB) | Copyrighted

  • Multiple Face Recognition from Omnidirectional Video

    Fernando De la Torre Frade, Carlos Vallespi-Gonzalez, Paul Rybski, Manuela Veloso, and Takeo Kanade
    IEEE Workshop on Learning in Computer Vision and Pattern Recognition, June, 2005.
    Details | pdf (869KB) | Copyrighted

  • Learning to Track Multiple People in Omnidirectional Video

    Fernando De la Torre Frade, Carlos Vallespi-Gonzalez, Paul Rybski, Manuela Veloso, and Takeo Kanade
    Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA-2005), April, 2005, pp. 4150 - 4155.
    Details | pdf (2MB) | Copyrighted

  • Dynamic Heterogeneous Robot Teams Engaged in Adversarial Tasks

    M Bernardine Dias, Brett Browning, Manuela Veloso, and Anthony (Tony) Stentz
    tech. report CMU-RI-TR-05-14, Robotics Institute, Carnegie Mellon University, April, 2005
    Details | pdf (522KB) | Copyrighted

  • Turning Segways into Soccer Robots

    Brett Browning, Jeremy Searock, Paul Rybski, and Manuela Veloso
    Industrial Robot, Vol. 32, No. 2, January, 2005, pp. 149-156.
    Details | pdf (738KB) | Copyrighted

  • Omnidirectional Video Capturing, Multiple People Tracking and Identification for Meeting Monitoring.

    Fernando De la Torre Frade, Carlos Vallespi-Gonzalez, Paul Rybski, Manuela Veloso, and Takeo Kanade
    tech. report CMU-RI-TR-05-04, Robotics Institute, Carnegie Mellon University, January, 2005
    Details | pdf (1MB) | Copyrighted

  • Multimodal Oriented Discriminant Analysis

    Fernando De la Torre Frade and Takeo Kanade
    tech. report CMU-RI-TR-05-03, Robotics Institute, Carnegie Mellon University, January, 2005
    Details | pdf (197KB) | Copyrighted

  • Levels of Multi-robot Coordination for Dynamic Environments

    Colin McMillen, Paul Rybski, and Manuela Veloso
    Multi-Robot Systems. From Swarms to Intelligent Automata, Lynne E. Parker, Frank E. Schneider, Alan C. Schultz, ed., Springer, 2005, pp. 53-64.
    Details | pdf (5MB) | Copyrighted

  • Intelligently Integrating Information from Speech and Vision Processing to Perform Light-weight Meeting Understanding

    Alexander Rudnicky, Paul Rybski, Satanjeev Banerjee, and Manuela Veloso
    International Conference on Multi-modal Interfaces (ICMI), International Workshop on Multimodal Multiparty Meeting Processing , October, 2005.
    Details | pdf (558KB) | Copyrighted

  • Reasoning About Joint Beliefs for Execution-Time Communication Decisions

    Maayan Roth, Reid Simmons, and Manuela Veloso
    The Fourth International Joint Conference on Autonomous Agents and Multi Agent Systems (AAMAS), 2005.
    Details

  • Decentralized Communication Strategies for Coordinated Multi-Agent Policies

    Maayan Roth, Reid Simmons, and Manuela Veloso
    Multi-Robot Systems. From Swarms to Intelligent Automata, Lynne E. Parker, Frank E. Schneider, Alan C. Shultz, ed., Springer, 2005, pp. 93-106.
    Details

  • Turning Segways into Soccer Robots

    Jeremy Searock, Brett Browning, and Manuela Veloso
    In Proceedings of IROS'04, September, 2004.
    Details | pdf (1MB) | Copyrighted

  • Turning Segways into Robust Human-Scale Dynamically Balanced Soccer Robots

    Jeremy Searock, Brett Browning, and Manuela Veloso
    In Proceedings of the Eighth RoboCup International Symposium, July, 2004.
    Details | pdf (601KB) | Copyrighted

  • Segway CMBalance Robot Soccer Player

    Jeremy Searock, Brett Browning, and Manuela Veloso
    tech. report CMU-CS-04-143, Computer Science Department, Carnegie Mellon University, May, 2004
    Details | pdf (776KB) | Copyrighted

  • Development of a soccer-playing dynamically-balancing mobile robot

    Brett Browning, Paul Rybski, Jeremy Searock, and Manuela Veloso
    Proceedings of International Conference on Robotics and Automation (ICRA'04), May, 2004.
    Details | pdf (397KB) | Copyrighted

  • Creating Multi-Modal, User-Centric Records of Meetings with the Carnegie Mellon Meeting Recorder Architecture

    Satanjeev Banerjee, Jason Cohen, Thomas Quisel, Arthur Chan, Yash Patodia, Ziad Al Bawab, Rong Zhang, Alan Black, Richard Stern, Roni Rosenfeld, Alexander Rudnicky, Paul Rybski, and Manuela Veloso
    International Conference on Acoustics, Speech, and Signal Processing, Meeting Recognition Workshop, May, 2004.
    Details | pdf (274KB) | Copyrighted

  • CAMEO: Camera Assisted Meeting Event Observer

    Paul Rybski, Fernando De la Torre Frade, Raju Patil, Carlos Vallespi-Gonzalez, Manuela Veloso, and Brett Browning
    Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA-2004), May, 2004, pp. 1634-1639.
    Details | pdf (425KB) | Copyrighted

  • CMRoboBits: Creating an Intelligent AIBO Robot

    Manuela Veloso, Scott Lenser, Douglas Vail, Paul Rybski, Nick Aiwazian, and Sonia Chernova
    2004 AAAI Spring Symposium on Accessible Hands-on Artificial Intelligence and Robotics Education, March, 2004.
    Details

  • CAMEO: The Camera Assisted Meeting Event Observer

    Paul Rybski, Fernando De la Torre Frade, Raju Patil, Carlos Vallespi-Gonzalez, Manuela Veloso, and Brett Browning
    tech. report CMU-RI-TR-04-07, Robotics Institute, Carnegie Mellon University, January, 2004
    Details | pdf (590KB) | Copyrighted

  • Person Tracking From a Dynamic Balancing Platform

    Dinesh Govindaraju and Brett Browning
    tech. report CMU-CS-04-181, Computer Science Department, Carnegie Mellon University, November, 2004
    Details | pdf (252KB) | Copyrighted

  • Accurate and Flexible Simulation for Dynamic, Vision-Centric Robot

    Jared Go, Brett Browning, and Manuela Veloso
    tech. report CMU-CS-04-180, Computer Science Department, Carnegie Mellon University, November, 2004
    Details | pdf (176KB) | Copyrighted

  • People Detection and Tracking in High Resolution Panoramic Video Mosaic

    Raju Patil, Paul E. Rybski, Takeo Kanade, and Manuela M. Veloso
    Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), October, 2004, pp. 1323-1328.
    Details | pdf (732KB) | Copyrighted

  • Skill acquisition and use for a dynamically-balancing soccer robot

    Brett Browning, Ling Xu, and Manuela Veloso
    Proceedings of Nineteenth National Conference on Artificial Intelligence (AAAI'04), 2004.
    Details | pdf (190KB) | Copyrighted

  • STP: Skills, tactics and plays for multi-robot control in adversarial environments

    Brett Browning, James Bruce, Michael Bowling, and Manuela Veloso
    IEEE Journal of Control and Systems Engineering, , 2004
    Details

  • Plays as effective multiagent plans enabling opponent-adaptive play selection

    Michael Bowling, Brett Browning, and Manuela Veloso
    Proceedings of International Conference on Automated Planning and Scheduling (ICAPS'04), 2004.
    Details | pdf (547KB) | Copyrighted

  • Accurate and flexible simulation for dynamic, vision-centric robots

    Jared Go, Brett Browning, and Manuela Veloso
    Proceedings of International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS'04), 2004.
    Details

  • Value-Based Observation with Robot Teams (VBORT) for Dynamic Targets

    Ashley Stroupe and Tucker Balch
    Proceedings of IROS '03, September, 2003.
    Details | pdf (250KB) | Copyrighted

  • Value-Based Observation with Robot Teams (VBORT) Using Probabilistic Techniques

    Ashley Stroupe and Tucker Balch
    Proceedings of ICAR '03, September, 2003.
    Details | pdf (416KB) | Copyrighted

  • Collaborative Execution of Exploration and Tracking Using Move Value Estimation for Robot Teams (MVERT)

    Ashley Stroupe
    doctoral dissertation, tech. report CMU-RI-TR-03-07, Robotics Institute, Carnegie Mellon University, September, 2003
    Details | pdf (5MB) | Copyrighted

  • Planning for Communication Resources

    Brett Browning and Manuela Veloso
    tech. report CMU-CS-03-120, Computer Science Department, Carnegie Mellon University, May, 2003
    Details | pdf (192KB) | Copyrighted

  • Fast and accurate vision-based pattern detection and identification

    James Bruce and Manuela Veloso
    Proceedings of ICRA-03, the 2003 IEEE International Conference on Robotics and Automation (ICRA '03), May, 2003.
    Details | pdf (2MB) | Copyrighted

  • Behavior-Based Mapping and Tracking with Multi-Robot Teams Using Probabilistic Techniques

    Ashley Stroupe and Tucker Balch
    Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03), May, 2003.
    Details | pdf (392KB) | Copyrighted

  • Automatic detection and response to environmental change

    Scott Lenser and Manuela Veloso
    Proceedings of ICRA-03, the 2003 IEEE International Conference on Robotics and Automation (ICRA '03), May, 2003.
    Details | pdf (2MB) | Copyrighted

  • A Real-time World Model for Multi-Robot Teams with High-Latency Communication

    Maayan Roth, Douglas Vail, and Manuela Veloso
    Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2003, pp. 2494 - 2499.
    Details | pdf (555KB) | Copyrighted

  • Multi-Robot Dynamic Role Assignment and Coordination Through Shared Potential Fields

    Douglas Vail and Manuela Veloso
    Multi-Robot Systems, A. Schultz, L. Parker, and F. Schneider, ed., Kluwer, 2003
    Details | pdf (263KB) | Copyrighted

  • Learning the sequential coordinated behavior of teams from observations

    Gal Kaminka, Mehmet Fidanboylu, Allen Chang, and Manuela Veloso
    Proceedings of the RoboCup-2002 Symposium, June, 2002.
    Details | pdf (234KB) | Copyrighted

  • Integration of advice in an action-selection architecture

    Paul Carpenter, Patrick Riley, Manuela Veloso, and Gal Kaminka
    Proceedings of the RoboCup-2002 Symposium, June, 2002.
    Details | pdf (153KB) | Copyrighted

  • Learning to Construct Fast Signal Processing Implementations

    Bryan Singer and Manuela Veloso
    Journal of Machine Learning Research, , December, 2002, pp. 887 - 919.
    Details | pdf (6MB) | Copyrighted

  • Collaborative Probabilistic Constraint-Based Landmark Localization

    Ashley Stroupe and Tucker Balch
    Proceedings of IROS '02, October, 2002.
    Details | pdf (5MB) | Copyrighted

  • Multiagent learning using a variable learning rate

    Michael Bowling and Manuela Veloso
    Artificial Intelligence, Vol. 136, 2002, pp. 215 - 250.
    Details | pdf (460KB) | Copyrighted

  • Mission-Relevant Collaborative Observation and Localization

    Ashley Stroupe and Tucker Balch
    Multi-Robot Systems: From Swarms to Intelligent Automata, Alan C. Shultz and Lynne E. Parker, ed., Klewer, 2002
    Details | pdf (36KB) | Copyrighted

  • Constraint-Based Landmark Localization

    Ashley Stroupe, Kevin Sikorski, and Tucker Balch
    RoboCup 2002: Robot Soccer World Cup IV, 2002.
    Details | pdf (198KB) | Copyrighted

  • CMU Hammerheads 2001 Team Description

    Stephen B. Stancliff, Ravi Balasubramanian, Tucker Balch, Rosemary Emery-Montemerlo, Kevin Sikorski, and Ashley Stroupe
    RoboCup 2001: Robot Soccer World, A. Birk, S. Coradeschi and S. Tadokoro, ed., Springer, 2002, pp. 631-634.
    Details | pdf (145KB) | Copyrighted

  • Technology for Autonomous Space Systems

    Ashley Stroupe, Sanjiv Singh, Reid Simmons, Trey Smith, Paul Tompkins, Vandi Verma, R. Vitti-Lyons, and Michael D. Wagner
    tech. report CMU-RI-TR-00-02, Robotics Institute, Carnegie Mellon University, 2001
    Details | pdf (2MB) | Copyrighted

  • Defining and using ideal teammate and opponent agent models: a case study in robotic soccer

    P. Stone, Patrick Riley, and Manuela Veloso
    Proceedings of the Fourth International Conference on MultiAgent Systems 2000, July, 2000, pp. 441 - 442.
    Details | pdf (120KB) | Copyrighted

  • Robotics in edutainment

    M. Asada, R. D'Andrea, A. Birk, H. Kitano, and Manuela Veloso
    Proceedings of the IEEE International Conference on Robotics and Automation 2000 (ICRA '00), April, 2000, pp. 795 - 800.
    Details | pdf (549KB) | Copyrighted

  • Progress in RoboCup Soccer Research in 2000

    M. Asada, A. Birk, E. Pagello, M. Fujita, I. Noda, S. Tadokoro, D. Duhaut, P. Stone, Manuela Veloso, H.Kitano, and B. Thomas
    Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, December, 2000.
    Details | pdf (693KB) | Copyrighted

  • Fast and inexpensive color image segmentation for interactive robots

    J. Bruce, Tucker Balch, and Manuela Veloso
    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '00), October, 2000, pp. 2061 - 2066.
    Details | pdf (531KB) | Copyrighted

  • Sensor Resetting Localization for Poorly Modelled Mobile Robots

    Scott Lenser and Manuela Veloso
    Proceedings of the IEEE International Conference on Robotics and Automation, 2000, 2000.
    Details | pdf (144KB) | Copyrighted

  • Motion control in dynamic multi-robot environments

    M. Bowling and Manuela Veloso
    Proceedings of the1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA '99), November, 1999, pp. 168 - 173.
    Details | pdf (401KB) | Copyrighted

  • RoboCup as a strategic initiative to advance technologies

    I. Noda, M. Asada, H. Matsubara, Manuela Veloso, and H. Kitano
    Proceedings of the 1999 IEEE International Conference on Systems, Man, and Cybernetics (SMC '99), October, 1999, pp. 692 - 697.
    Details | pdf (659KB) | Copyrighted